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Omni-Directional Vehicle

ENGS 146: Computer Aided Mechanical Design

May 2018

Objective: Design and build a human powered omni-directional vehicle, capable of simultaneous orientation and travel in any direction.


  • FEA Analysis

  • SolidWorks Simulation Tools

  • Mechanical Design and Manufacture

  • CNC Mills - 3 Axis

  • CNC Lathe

  • ShopBot

Pulley and cranks
Coaxial Steering
Drive Hub
Hub CAD_edited
Top View
coax model_edited
omnivore front_edited
Power Train
Trailing link
Omnivore Lettering
Ready Driver One
Morning Commute

In ten weeks, my team of five invented, modeled, analyzed, revised, and finally built this human powered omni-directional vehicle.



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omni sun

omni sun

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omni gerardo sunny

omni gerardo sunny

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Magoon Omni Prowess

Magoon Omni Prowess

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Our vehicle (seen in video starting at 11s) competing in the Gymkhana race:

Winner of the 2018 ENGS 146 Best Fabrication Fit and Finish Award for "building an impeccable and gorgeous machine".

Four Teams

Ten Weeks

Unlimited access to McMaster-Carr

3 time trial races

The Competition.


Drag Race


Top down design.


Given our very short time scale, simplicity of manufacturing was the largest design consideration. We would have to iterate on design possibilities mostly on paper and in Solidworks, given that we would only have one chance to go from model to final product. Our challenge was to settle on a power and steering system that would optimize maneuverability to succeed in the competition, and be easy to build.

Our final design was elegantly simple to build, straightforward to ride, endlessly maneuverable, capable of carrying 500 lbs, and adjustable to riders from 4' to 6'6" tall.

Layout Sketch
Power Train
Layout Sketch 2

Key components.

We settled on a model that consisted of:

1.) a sandwiched chassis that contains and protects power and steering components, using plywood standoffs with tongue and groove snap fit to provide structural rigidity

2.) a pedal-powered drive train that powers a drive hub using a 90 degree twisted V-belt

3.) a coaxial power and steering drive hub

4.) Coaxial steering wheels connected to two front trailing links

5.) an ergonomically adjustable seat to ensure usability for all riders.

Drive hub

Our drive hub consists of one driven and one free spinning wheel. The driven wheel generates torque equal and opposite to its beveled gear, cancelling torque for easy steering and allowing the creation of our coaxial power and steering rotating gearbox

Hub CAD Model
Hub Layout
Hub Schematic
Wrong bevel gear layout
Hub model cutaway
Built hub
Steering sprocket stack
Bearing housing
Wireframe hub
Power and Steering model
Coax steering stack sketch
Coaxial Steering Hardware Stack.
Real Coax stack
Model stack
CAD model stack
Steering wheels
Top view
Coaxial Steering

The front two trailing links are steered through two coaxial steering wheels. This allows the driver to switch steered trailing link almost instantly, and steer both at once if desired.

Seat + finish

The seat is adjustable to riders from 4' to 6'6" tall. We custom upholstered our seat by stretching marine vinyl over HDPE foam and using a heat gun to get a custom fit. A cam handle lets the seat slide and lock into place easily.

We applied three coats of polyacrylic finish to the plywood as a sealant and weather barrier. Aluminum parts were polished and finished with oil.

Seat Cad model
Cam Handle
Rider heights
Top view
Polish gradient for Aluminum.

I used a shopbot to cut the chassis and steering wheels. I programmed custom tools for a radius cutter and angle cutter to add fillets and chamfers to the steering wheels on the table.

I used a prototrak mill to machine the aluminum, steel, and brass components.